Tele-presence robot system with multi-cast features

ABSTRACT

A graphical user interface for a remote controlled robot system that includes a robot view field that displays information provided by a robot and an observer view field that display observer information about one or more observers that can receive the robot information. The interface has various features that allow a master user to control the observation and participation of the observers.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The subject matter disclosed generally relates to the field of robotics.

2. Background Information

Robots have been used in a variety of applications ranging from remotecontrol of hazardous material to assisting in the performance ofsurgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al.discloses a system that allows a surgeon to perform minimally invasivemedical procedures through the use of robotically controlledinstruments. One of the robotic arms in the Wang system moves anendoscope that has a camera. The camera allows a surgeon to view asurgical area of a patient.

There has been marketed a mobile tele-presence robot introduced byInTouch Technologies, Inc., the assignee of this application, under thetrademark RP-7. The InTouch robot is controlled by a user at a remotestation. The remote station may be a personal computer with a joystickthat allows the user to remotely control the movement of the robot. Boththe robot and remote station have cameras, monitors, speakers andmicrophones to allow for two-way video/audio communication. The robotcamera provides video images to a screen at the remote station so thatthe user can view the robot's surroundings and move the robotaccordingly.

U.S. Pat. No. 7,158,860 issued to Wang et al. and assigned to the ownerof the present application, InTouch Technologies, Inc. discloses atele-presence robot system that includes a primary remote controlstation and one or more secondary control stations that are all linkedto a tele-presence robot. The system allows the secondary stations toobserve the video/audio feed provided by the robot. This allows theusers of the secondary station to be trained through the robot andprimary station. It would be desirable to modify such a system toimplement more features such as the ability for two-way communicationbetween stations, or the transfer of robot control to one of thesecondary stations.

BRIEF SUMMARY OF THE INVENTION

A graphical user interface for a remote controlled robot system thatincludes a robot view field that displays information provided by arobot and an observer view field that displays observer informationabout one or more observers that can receive the robot information.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a robotic system;

FIG. 2 is a schematic of an electrical system of a robot;

FIG. 3 is side view of the robot;

FIG. 4 is a schematic of a robotic system wherein multiple remotestations are coupled to the robot;

FIG. 5 is an illustration of a user interface;

FIG. 6 is an illustration of a message popup of the user interface;

FIGS. 7A-C are illustrations of graphical messages;

FIG. 8 is an illustration of the user interface shown in FIG. 5 with apull-down menu;

FIG. 9 is an illustration showing a user interface for an observerremote control station;

FIG. 10 is an illustration similar to FIG. 5 showing microphone volumecontrol features;

FIG. 11 is an illustration of a dialog box showing bandwidth requirementof the system during a session;

FIG. 12 is a side view of a robot head.

DETAILED DESCRIPTION

Disclosed is a graphical user interface for a remote controlled robotsystem that includes a robot view field that displays informationprovided by a robot and an observer view field that displays observerinformation about one or more observers that can receive the robotinformation. The interface has various features that allow a master userto control the observation and participation of observers.

Referring to the drawings more particularly by reference numbers, FIG. 1shows an embodiment of robot system 10. The robot system 10 includes arobot 12, a base station 14 and a plurality of remote control stations16. Each remote control station 16 may be coupled to the base station 14through a network 18. By way of example, the network 18 may be either apacket switched network such as the Internet, or a circuit switchednetwork such has a Public Switched Telephone Network (PSTN) or otherbroadband system. The base station 14 may be coupled to the network 18by a modem 20 or other broadband network interface device.

Each remote control station 16 may include a computer 22 that has amonitor 24, a camera 26, a microphone 28 and a speaker 30. The computer22 may also contain an input device 32 such as a joystick or a mouse.Each control station 16 is typically located in a place that is remotefrom the robot 12. Although only one robot 12 is shown, it is to beunderstood that the system 10 may have a plurality of robots 12. Ingeneral any number of robots 12 may be controlled by any number ofremote stations. For example, one remote station 16 may be coupled to aplurality of robots 12, or one robot 12 may be coupled to a plurality ofremote stations 16.

The robot 12 includes a movement platform 34 that is attached to a robothousing 36. Also attached to the robot housing 36 are a camera 38, amonitor 40, a microphone(s) 42 and a speaker 44. The microphone 42 andspeaker 30 may create a stereophonic sound. The robot 12 may also havean antenna 46 that is wirelessly coupled to an antenna 48 of the basestation 14. The system 10 allows a user at the remote control station 16to move the robot 12 through the input device 32. The robot camera 38 iscoupled to the remote monitor 24 so that a user at the remote station 16can view a patient. Likewise, the robot monitor 40 is coupled to theremote camera 26 so that the patient can view the user. The microphones28 and 42, and speakers 30 and 44, allow for audible communicationbetween the patient and the user.

Each remote station computer 22 may operate Microsoft OS software andWINDOWS XP or other operating systems such as LINUX. The remote computer22 may also operate a video driver, a camera driver, an audio driver anda joystick driver. The video images may be transmitted and received withcompression software such as MPEG CODEC.

FIGS. 2 and 3 show an embodiment of the robot 12. The robot 12 mayinclude a high level control system 50 and a low level control system52. The high level control system 50 may include a processor 54 that isconnected to a bus 56. The bus is coupled to the camera 38 by aninput/output (I/O) port 58, and to the monitor 40 by a serial outputport 60 and a VGA driver 62. The monitor 40 may include a touchscreenfunction that allows the patient to enter input by touching the monitorscreen.

The speaker 44 is coupled to the bus 56 by a digital to analog converter64. The microphone 42 is coupled to the bus 56 by an analog to digitalconverter 66. The high level controller 50 may also contain randomaccess memory (RAM) device 68, a non-volatile RAM device 70 and a massstorage device 72 that are all coupled to the bus 62. The mass storagedevice 72 may contain medical files of the patient that can be accessedby the user at the remote control station 16. For example, the massstorage device 72 may contain a picture of the patient. The user,particularly a health care provider, can recall the old picture and makea side by side comparison on the monitor 24 with a present video imageof the patient provided by the camera 38. The robot antennae 46 may becoupled to a wireless transceiver 74. By way of example, the transceiver74 may transmit and receive information in accordance with IEEE 802.11b.

The controller 54 may operate with a LINUX OS operating system. Thecontroller 54 may also operate MS WINDOWS along with video, camera andaudio drivers for communication with the remote control station 16.Video information may be transceived using MPEG CODEC compressiontechniques. The software may allow the user to send e-mail to someone atthe robot site and vice versa, or allow someone at the robot site toaccess the Internet. In general the high level controller 50 operates tocontrol the communication between the robot 12 and the remote controlstation 16.

The high level controller 50 may be linked to the low level controller52 by serial port 76. The low level controller 52 runs software routinesthat mechanically actuate the robot 12. For example, the low levelcontroller 52 provides instructions to actuate the movement platform tomove the robot 12. The low level controller 52 may receive movementinstructions from the high level controller 50. The movementinstructions may be received as movement commands from the remotecontrol station. Although two controllers are shown, it is to beunderstood that the robot 12 may have one controller controlling thehigh and low level functions.

FIG. 3 shows an embodiment of the robot 12. The robot 12 may include aholonomic platform 110 that is attached to a robot housing 112. Theholonomic platform 110 provides three degrees of freedom to allow therobot 12 to move in any direction.

The robot 12 may have a head 114 that supports the camera 38 and themonitor 40. The head 114 may have two degrees of freedom so that thecamera 26 and monitor 24 can swivel and pivot as indicated by thearrows.

The system may be the same or similar to a robot system provided by theassignee InTouch-Health, Inc. of Santa Barbara, Calif. under thetrademark RP-7. The system may also be the same or similar to the systemdisclosed in U.S. Pat. No. 6,925,357 issued Aug. 2, 2005, which ishereby incorporated by reference.

In operation, the robot 12 may be placed in a home, public or commercialproperty, or a facility where one or more patients are to be monitoredand/or assisted. The facility may be a hospital or a residential carefacility. By way of example, the robot 12 may be placed in a home wherea health care provider may monitor and/or assist the patient. Likewise,a friend or family member may communicate with the patient. The camerasand monitors at both the robot and remote control stations allow forteleconferencing between the patient and the person at the remotestation(s).

The robot 12 can be maneuvered through the home, property or facility bymanipulating the input device 32 at a remote station 16.

The robot 10 may be controlled by a number of different users. Toaccommodate for this the robot may have an arbitration system. Thearbitration system may be integrated into the operating system of therobot 12. For example, the arbitration technique may be embedded intothe operating system of the high-level controller 50.

By way of example, the users may be divided into classes that includethe robot itself, a local user, a caregiver, a doctor, a family member,or a service provider. The robot 12 may override input commands thatconflict with robot operation. For example, if the robot runs into awall, the system may ignore all additional commands to continue in thedirection of the wall. A local user is a person who is physicallypresent with the robot. The robot could have an input device that allowslocal operation. For example, the robot may incorporate a voicerecognition system that receives and interprets audible commands.

A caregiver is someone who remotely monitors the patient. A doctor is amedical professional who can remotely control the robot and also accessmedical files contained in the robot memory. The family and serviceusers remotely access the robot. The service user may service the systemsuch as by upgrading software, or setting operational parameters.

Message packets may be transmitted between a robot 12 and a remotestation 16. The packets provide commands and feedback. Each packet mayhave multiple fields. By way of example, a packet may include an IDfield a forward speed field, an angular speed field, a stop field, abumper field, a sensor range field, a configuration field, a text fieldand a debug field.

The identification of remote users can be set in an ID field of theinformation that is transmitted from the remote control station 16 tothe robot 12. For example, a user may enter a user ID into a setup tablein the application software run by the remote control station 16. Theuser ID is then sent with each message transmitted to the robot.

The robot 12 may operate in one of two different modes; an exclusivemode, or a sharing mode. In the exclusive mode only one user has accesscontrol of the robot. The exclusive mode may have a priority assigned toeach type of user. By way of example, the priority may be in order oflocal, doctor, caregiver, family and then service user. In the sharingmode two or more users may share access with the robot. For example, acaregiver may have access to the robot, the caregiver may then enter thesharing mode to allow a doctor to also access the robot. Both thecaregiver and the doctor can conduct a simultaneous teleconference withthe patient.

The arbitration scheme may have one of four mechanisms; notification,timeouts, queue and call back. The notification mechanism may informeither a present user or a requesting user that another user has, orwants, access to the robot. The timeout mechanism gives certain types ofusers a prescribed amount of time to finish access to the robot. Thequeue mechanism is an orderly waiting list for access to the robot. Thecall back mechanism informs a user that the robot can be accessed. Byway of example, a family user may receive an e-mail message that therobot is free for usage. Tables 1 and 2, show how the mechanisms resolveaccess request from the various users.

TABLE I Access Medical Command Software/Debug Set User Control RecordOverride Access Priority Robot No No Yes (1) No No Local No No Yes (2)No No Caregiver Yes Yes Yes (3) No No Doctor No Yes No No No Family NoNo No No No Service Yes No Yes Yes Yes

TABLE II Requesting User Local Caregiver Doctor Family Service CurrentLocal Not Allowed Warn current user of Warn current user of Warn currentuser of Warn current user of User pending user pending user pending userpending user Notify requesting Notify requesting user Notify requestinguser Notify requesting user that system is in that system is in use thatsystem is in use user that system is in use Set timeout = 5 m Settimeout = 5 m use Set timeout Call back No timeout Call back CaregiverWarn current user Not Allowed Warn current user of Warn current user ofWarn current user of of pending user. pending user pending user pendinguser Notify requesting Notify requesting user Notify requesting userNotify requesting user that system is that system is in use that systemis in use user that system is in in use. Set timeout = 5 m Set timeout =5 m use Release control Queue or callback No timeout Callback DoctorWarn current user Warn current user of Warn current user of Notifyrequesting user Warn current user of of pending user pending userpending user that system is in use pending user Notify requesting Notifyrequesting Notify requesting user No timeout Notify requesting user thatsystem is user that system is in that system is in use Queue or callbackuser that system is in in use use No timeout use Release control Settimeout = 5 m Callback No timeout Callback Family Warn current userNotify requesting Warn current user of Warn current user of Warn currentuser of of pending user user that system is in pending user pending userpending user Notify requesting use Notify requesting user Notifyrequesting user Notify requesting user that system is No timeout thatsystem is in use that system is in use user that system is in in use Putin queue or Set timeout = 1 m Set timeout = 5 m use Release Controlcallback Queue or callback No timeout Callback Service Warn current userNotify requesting Warn current user of Warn current user of Not Allowedof pending user user that system is in request pending user Notifyrequesting use Notify requesting user Notify requesting user user thatsystem is No timeout that system is in use that system is in use in useCallback No timeout No timeout No timeout Callback Queue or callback

The information transmitted between the station 16 and the robot 12 maybe encrypted. Additionally, the user may have to enter a password toenter the system 10. A selected robot is then given an electronic key bythe station 16. The robot 12 validates the key and returns another keyto the station 16. The keys are used to encrypt information transmittedin the session.

FIG. 4 shows a system with a plurality of remote stations 16A, 16B and16C that can access a robot 12 through the network 18. The system can beset into a session mode wherein a master remote station 16A controlsmovement of the robot and receives both video and audio information fromthe robot camera and speaker, respectively. The observer stations 16Band 16C may also receive audio and visual information transmittedbetween the robot 12 and the station 16A. This mode allows multipleusers at stations 16B and 16C to observe use of the robot while ateacher or master at station 16A moves the robot.

During a session the master remote station 16A can retransmit theaudio/visual information received from the robot 12 to the observerstations 16B and 16C. This can be done by changing the ID(s) in the IDfield of the data packets received from the robot and thenretransmitting the packets to the observer stations. Alternatively, themaster remote station 16A can instruct the robot to transmit the audioand visual information to the master 16A, and the observer 16B and 16Cremote stations. It being understood that each remote station 16A, 16Band 16C has a unique network identifier such as an IP address thatallows the robot to direct information to each station. The packets maycontain a BROADCAST field that contains the station IDs for the remotestations that are to receive packets from the robot. The BROADCAST fieldmay be filled by the master station 16A.

The session mode allows for training through the robot. For example, themaster remote station 16A may be operated by a physician who moves therobot into visual and audio contact with a patient. The observer remotestations 16B an 16C may be manned by personnel such as interns thatobserve and receive instructional training on providing care giving tothe patient. Although instruction of medical personnel is described, thesystem can be used to train any group of users that are remotely locatedfrom a training area. For example, the system may be used to trainpersonnel at a department store or allow potential buyers of real estateproperty to remotely view the property.

FIG. 5 shows a display user interface (“DUI”) 200 displayed at themaster control station 16A. The DUI 200 may include a robot view field202 that displays a video image captured by the camera of the robot. TheDUI 200 may also include a station view field 204 that displays a videoimage provided by the camera of the master remote station 16A. The DUI200 may be part of an application program stored and operated by thecomputer 22 of the remote station 16A.

The DUI 200 may include a “Connect” button 206 that can be selected toconnect the station to a robot. Selection of the Connect button 206 maycause the display of pull-down screens, etc. that allow the user toselect a desired robot. System settings and options can be selectedthrough buttons 208 and 210, respectively.

One of the options is to allow for multicasting. FIG. 6 shows a menu 212with an “Enable Multicasting” box 214 that can be “checked” to allow forother remote station to join a multi-cast session.

A user at an observer station may attempt a connection with the samerobot. If a robot is already in use the screen may display a message box216 as shown in FIG. 7A. The message box 216 includes an “OK” button 218that allows the user to request joining the session as an observer. Ifthe user presently connected to the robot has not enabled themulticasting feature then a message 220 may be displayed indicating thisfact as shown in FIG. 7B. If the user selected the OK button 218 thenthe master user may receive the message 222 shown in FIG. 7C. Themessage includes an “Accept” button 224 and a “Deny” button 226 thatallows the master user to accept or deny the request to observe thesession, respectively. When an observer is accepted the observers mayreceive the audio/video feeds from by the robot.

User's that are accepted are displayed in an observer view field 228 ofthe master control station DUI 200 shown in FIG. 5. The field 228 canprovide video images of the users captured by the cameras of theobserver remote control stations. Each video image may also include acaption of the observer's name. The field includes a scroll down tab 230that allows the master user to scroll down the video images of theobservers.

The master user can right click on any observer video image to displaythe pull down menu 232 shown in FIG. 8. The pull down menu 228 allowsthe master user to select various options for the selected observer. Thepull down menu 232 includes an “Allow The Robot To Hear This User”feature 234 that can be selected so that the observer can provide audioto the robot. The system may allow for simultaneous three way audiobetween the robot, master user and one observer. Both the master and theobserver stations include a “Push To Talk” icon 236. If there is morethan one observer then the “Push To Talk” icon 236 is enabled and theobserver must continuously select the icon 232 to talk, much like awalkie-talkie button. The space bar may also be pushed after the icon236 is selected to allow audio communication to the robot. When Push ToTalk is selected then an icon 238 can be displayed in the observersvideo image to indicate which observer is providing audio input to therobot. The master and observer stations may also have a “Local Talk”icon 240. Selecting the Local Talk icon allows for textual communicationbetween just the remote stations, popping up a text chat dialog boxwithin each interface, which allows the master and observers to exchangetext messages. Prior to displaying the text chat dialog box, a popupdialog box (not shown) may be displayed to the user who initiated LocalTalk, which would list all current session participants, and allow theuser to select only those participants to be part of the Local Talk.There may be a “Limit Voice” box (not shown) that can be selected tolimit audio output of participants in the local chat to only those otherremote stations participating in the local chat.

An “Allow Robot To See This User” feature 242 can be selected so thatthe observer's video image is provided to the monitor of the robotinstead of the master user's video image. The observer's video image maybe displayed in the station view field 204 when that observer's image isprovided to the robot. The “Allow This User To See Robot Video” 244 and“Allow This User To Hear Robot Audio” features 246 can be selected sothat the observer receives the video and audio feeds from the robot,respectively.

The “Head Control” feature 248 allows the selected observer to controlthe robot head to move the robot camera. The “Driving” feature 250allows the observer to drive the robot. When the Driving feature isselected robot data such as position sensor data, battery power, etc.are provided to the selected observer's remote station. The “Camera &Aux Video Control” feature 252 allows the observer to control robotcamera functions such as zoom, brightness, etc. The master no longer hasthe head, driving and camera controls when these features aretransferred to an observer.

The menu 232 includes a “Telestration” feature 254 that allows anobserver to annotate an image provided by to robot. For example, theimage can be a document or an X-ray. An observer can annotate the image,for example to circle and area of the X-ray to help communicate with apatient at the robot site. The master or any observer can enable acursor function by selecting a “Live Cursor” icon 256. Selecting theicon 256 allows the user to move a cursor 258 that is overlayed on therobot video image. The cursor 258 is provided on the image field 202 forall remote stations in a session. The master and observers can each bedesignated a different color so that different cursors can bedistinguished by the users. The cursor color 260 can be displayed in thevideo image of the master or the observer.

The robot may connected to a medical instrument such as a stethoscope.The “Stethescope” feature 262 of the pull down menu 232 allows theobservers to receive instrument input from the stethoscope. The menu 232may have a “Give This User Master Control” feature 264 that allows theselected observer to become a master user. The master can alsodisconnect an observer by selecting the “Disconnect This User” feature266.

FIG. 9 shows a user interface 270 for observer. The interface does notinclude robot control functions unless enabled by the master user. Theinterface 270 is similar to the master DUI 200, but lacks certain robotcontrols.

Referring again to FIG. 5, both the robot view field 202 and the stationview field 204 may have associated graphics to vary the video and audiodisplays. For example, each field may have graphical slide bars 280 and282 to vary the zoom and brightness of the cameras, respectively. Astill picture may be taken at either the robot or remote station byselecting one of the graphical camera icons 284. The still picture maybe the image presented at the corresponding field 202 or 204 at the timethe camera icon 284 is selected. Capturing and playing back video can betaken through graphical icons 286. A return to real time video can beresumed, after the taking of a still picture, captured video, orreviewing a slide show, by selecting a graphical LIVE button 288.

The local controls can include slide bars for the local station speaker290 and microphone 292. Also displayed is a microphone meter icon 294that varies with the volume of the user's voice. The robot volume may bedifferent from the user's input volume. The remote controls alsoincludes a microphone meter icon 296 that represents the user's audiovolume at the robot. The robot may have a local volume control so thatuser's at the robot site can vary the robot speaker volume. Normally themeter icons 294 and 296 will represent essentially the same value. Therobot volume may be different from the user's input volume, for example,if the robot local volume control is adjusted the at the robot site. Asshown in FIG. 10, if this occurs the volume slide bar 292 may be enabledto allow the user to vary the microphone. The DUI may also display a“Reset” button 298 that can be selected to automatically reset the robotspeaker volume to a center position.

Referring to FIG. 5, the robot view field 202 may include a “Video MuteTo Robot” feature 300 which when selected prevents audio and videotransmission to the robot from all remote stations. Field 202 may alsohave a “Master/Robot Privacy” feature 302 that can prevent the observerstations from receiving robot video and audio from both the robot andthe master control station.

The master user can also be allowed to control the bandwidth of thesystem by controlling the video feeds to the observer stations. FIG. 11shows a dialog box 310 that displays the bandwidth usage of variousparticipants in a session, along with network health parameters such aspacket losses and jitter between participants. “Drop Vid” buttons 312may be placed next to observer stations so that the master user can dropa particular observer's video.

FIG. 12 shows a non-mobile robot head 320 that can both pivot and spinthe camera 38 and the monitor 40. The robot head 320 can be similar tothe robot 12 but without the platform 110. The robot head 320 may havethe same mechanisms and parts to both pivot the camera 38 and monitor 40about a pivot axis 4, and spin the camera 38 and monitor 40 about a spinaxis 5. The pivot axis may intersect the spin axis. Having a robot head320 that both pivots and spins provides a wide viewing area. The robothead 320 may be in the system either with or instead of the mobile robot12.

The system may have numerous applications. For example, a physicianintensivist may initiate a remote presence session with a robot in orderto diagnose a patient in an Emergency Room. Upon examining the patient,the physician may realize that the patient assessment will requireconsultation by a neurology specialist. The intensivist calls theneurologist by phone, asking him to join the session. Upon receiving thetelephone request, the neurologist opens his laptop, selects the robotin question from the robot list in the interface, and clicks “Connect”.Seeing the message in FIG. 7A, he clicks “OK” and then sees the messagein FIG. 7B. The intensivist meanwhile sees the message in FIG. 7C andclicks “Accept”. At this point the neurologist receives the robot videoand can hear both the robot-side audio and the intensivist.

The intensivist uses the Live Cursor to point to the patient's face andEEG data on a wall. The neurologist obtains background information thatcan be provided by a nurse standing next to the patient and in front ofthe robot, as well as ICU-specific information provided by theintensivist on the master control station. Then, the neurologist canprovide an audio assessment of the patient's condition. The intensivistthen right-clicks on the thumbnail image of the neurologist in field288, and clicks the appropriate features in the pull-down menu to allowthe neurologist to be seen and heard on the robot. The neurologist canthen inform both the patient and family of the condition.

In another application, a surgeon may be logged onto a robot andperforming rounds in patient rooms within a hospital. Residents fromhospitals in other cities join the session in the manner describedabove. The surgeon describes what he is doing to the residents, who mayask questions, and thereby learn the best way to round patients.

In another application, a hospital CEO may connect to the robot, andtelephones three prospective doctors whom the hospital is courting tojoin the staff. These doctors each join the session as discussed above.The CEO then uses the joystick to drive the robot through the hospital,performing a virtual tour, and discusses the facility with the observerphysicians.

In yet another application, a sales VP of an MRI manufacturing companymay connect to a robot in the laboratory wing of a hospital, and thenphones the COO of a different hospital to join the session. Uponjoining, the sales VP drives the robot into the MRI lab and drivesaround the MRI machine, describing its features. An on-site MRItechnician operates certain controls on the direction of the sales VP.The sales VP explains to the COO the various benefits of purchasing theMRI machine.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art.

1. A graphical user interface for a remote controlled robot system,comprising: a robot view field that displays information provided by arobot; an observer view field that displays observer information aboutone or more observers that can receive the robot information.
 2. Theinterface of claim 1, wherein said robot information is video providedby a robot camera.
 3. The interface of claim 1, further comprising astation view field that display video provided by a camera of a remotecontrol station.
 4. The interface of claim 1, further comprising one ormore messages that allow an observer to join a session.
 5. The interfaceof claim 1, further comprising a selectable feature that controls atransmission of audio from an observer remote control station to saidrobot.
 6. The interface of claim 1, further comprising a selectablefeature that controls a transmission of video from an observer remotecontrol station to said robot.
 7. The interface of claim 1, furthercomprising a selectable feature that controls a transmission of audiofrom said robot to an observer remote control station.
 8. The interfaceof claim 1, further comprising a selectable feature that controls atransmission of video from said robot to an observer remote controlstation.
 9. The interface of claim 1, further comprising a selectablefeature that allows an observer remote control station to control amovement of said robot.
 10. The interface of claim 1, further comprisinga selectable feature that allows an observer remote control station tocontrol at least one camera parameter of said robot.
 11. The interfaceof claim 1, further comprising a selectable feature that allows anobserver remote control station to receive instrument data from aninstrument coupled to said robot.
 12. The interface of claim 2, furthercomprising a selectable feature that allows an observer remote controlstation to annotate said robot videos, said annotation being displayedin said robot view field.
 13. The interface of claim 1, furthercomprising a selectable feature that allows an observer remote controlstation to become a master remote control station.
 14. The interface ofclaim 1, further comprising a selectable feature that disconnects anobserver remote control station.
 15. The interface of claim 1, whereinsaid observer view field displays a video image provided by an observerremote control station.
 16. The interface of claim 1, further comprisinga dialog box that displays a system bandwidth usage and allows a user tovary said system bandwidth usage.
 17. The interface of claim 1, furthercomprising a selectable feature that allows communication only between aplurality of remote control stations.
 18. A graphical user interface fora remote controlled robot system, comprising: a robot view field thatdisplays information provided by a robot; a local microphone meter thatrepresents a volume of audio provided to a microphone of a remotecontrol station; and, a remote microphone meter that represents a volumeof audio generated by a robot speaker.
 19. The interface of claim 18,further comprising a selectable feature that can reset a robot speakervolume.
 20. The interface of claim 18, further comprising a selectablefeature to vary a volume of said remote control station microphone. 21.A robotic system, comprising: a robot with a camera that captures animage; a first remote station coupled to said robot, said first remotestation includes a monitor that displays said image, said first remotestation generates a first graphic that is overlayed onto said image;and, a second remote station coupled to said robot, said second remotestation includes a monitor that displays said image, said second remotestation generates a second graphic that is overlayed onto said image,both first and second remote station display both said first and secondgraphics onto said image.
 22. The system of claim 21, wherein said firstand second graphics are graphic cursors.
 23. The system of claim 21,wherein said first and second remote stations includes fields thatdisplay a video image captured from cameras of said first and secondremote stations, and each field includes a color representation thatcorresponds to said first and second graphics so that a viewer canassociate said first and second graphics with said first and secondremote stations.
 24. The system of claim 21, wherein said robot ismobile.
 25. The system of claim 21, wherein said robot includes amonitor that displays an image captured by a camera of said first remotestation.
 26. A method for viewing an image captured by a robot,comprising: capturing an image with a robot camera; transmitting theimage to a first remote station and a second remote station; displayingthe image on a monitor of the first remote station and a monitor of thesecond remote station; generating a first graphic and a second graphicthat are overlayed on the image that is displayed on both the firstremote station monitor and the second remote station monitor.
 27. Themethod of claim 26, further comprising transmitting commands from thefirst remote station to move the robot.
 28. The method of claim 26,further comprising capturing a first remote station image with a cameraof the first remote station, transmitting the first remote station imageto the robot and displaying the image on a robot monitor.
 29. The methodof claim 28, further comprising capturing a second remote station imagewith a camera of the second remote station, the first and second remotestations including fields that display the first and second remotestation images and color representation that correspond to the first andsecond graphics.
 30. A method for conducting a tour of a facility,comprising: moving a mobile robot through a facility in response tocommands from a first remote station; capturing a facility image with acamera of the robot; transmitting the facility image to a first remotestation and a second remote station; and, displaying the facility imageon a monitor of the first remote station and a monitor of the secondremote station.
 31. The method of claim 30, wherein the facility imageis a healthcare facility image.
 32. A method for obtaining remoteconsulting, comprising: capturing an image with a camera of a robot;transmitting the image to a first remote station operated by a firstconsultant; displaying the image on a monitor of the first remotestation; transmitting a request to join a session from the firstconsultant to a second consultant that operates a second remote station;transmitting the image to the second remote station; and, displaying theimage on a monitor of the second remote station.
 33. The method of claim32, further comprising generating a first graphic at the first remotestation that overlays onto the image that is displayed on the secondremote station monitor.
 34. The method of claim 32, wherein the secondconsultant is a doctor.
 35. The method of claim 34, wherein the firstconsultant is a doctor.
 36. A method of offering a product for sale,comprising: moving a robot in response to commands from a first remotestation; capturing an image of a product with a robot camera;transmitting the product image to the first remote station and a secondremote station; and, displaying the product image on a monitor of thefirst remote station and a monitor of the second remote station.
 37. Arobotic system, comprising: a robot with a monitor, a monitor, a speakerand a microphone; a first remote station that is coupled to said robot,said first remote station includes a monitor, a camera, a speaker and amicrophone; and, a second remote station that is coupled to said robot,said second remote station includes a monitor, a camera, a speaker and amicrophone, said second remote station including a control feature thatallows for control of video/audio transmitted between said robot andsaid first remote control station.
 38. The system of claim 37, whereinsaid control feature allows said first remote station to display animage captured by said robot camera.
 39. The system of claim 37, whereinsaid control feature allows said first remote station to generate audiofrom said robot.
 40. The system of claim 37, wherein said controlfeature allows an image captured by said first remote station camera tobe displayed by said robot monitor.
 41. The system of claim 37, whereinsaid control feature allows audio received by said first remote stationmicrophone to be generated by said robot speaker.
 42. The system ofclaim 37, wherein said control feature allows said first remote stationto generate a graphic overlay onto an image captured by said robotcamera and displayed by monitors of said first and second remote controlstations.
 43. The system of claim 37, wherein said control feature is agraphical button.
 44. A robotic system, comprising: a robot with acamera that captures an image; and, a plurality of remote stationscoupled to said robot, each remote station including a monitor thatdisplays said robot camera image, a select group of remote stationsexchange messages that are not provided to said robot.
 45. The system ofclaim 44, wherein said message is a text message.
 46. The system ofclaim 44, wherein said message is an audible message.
 47. The system ofclaim 44, wherein said select group of remote station is selectedthrough a graphical icon.
 48. The system of claim 44, wherein said robotis mobile.
 49. A method for communicating between a plurality of remotestations that are coupled to a robot, comprising: capturing an image ofa product with a robot camera; transmitting the product image to aplurality of remote station; selecting a group of remote stations; and,transmitting messages between the selected group of remote stations. 50.The method of claim 49, wherein the messages are text messages.
 51. Themethod of claim 49, wherein the messages are audible message.
 52. Themethod of claim 49, wherein the selected group of remote stations isselected through a graphical icon.